Specific implementation for roboception::msgs::Frame messages that publishes received messages not only as ros StampedPoses but also on tf if desired. More...

#include <protobuf2ros_stream.h>

Inheritance diagram for rc::PoseAndTFStream:

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Public Member Functions
	PoseAndTFStream (rc::dynamics::RemoteInterface::Ptr rcdIface, const std::string &stream, ros::NodeHandle &nh, const std::string &frame_id_prefix, bool tfEnabled)

Public Member Functions inherited from rc::Protobuf2RosStream
	Protobuf2RosStream (rc::dynamics::RemoteInterface::Ptr rcdIface, const std::string &stream, ros::NodeHandle &nh, const std::string &frame_id_prefix)

Public Member Functions inherited from rc::ThreadedStream
void	join ()

const std::string &	name () const

const std::atomic_bool &	requested () const

void	start ()

void	stop ()

const std::atomic_bool &	succeeded () const

Protected Member Functions
virtual bool	checkRosPublishersUsed () override

virtual void	initRosPublishers () override

virtual void	publishToRos (std::shared_ptr<::google::protobuf::Message > pbMsg) override

Protected Member Functions inherited from rc::Protobuf2RosStream
virtual bool	startReceivingAndPublishingAsRos () override

Protected Member Functions inherited from rc::ThreadedStream
	ThreadedStream (rc::dynamics::RemoteInterface::Ptr rcdIface, const std::string &stream, ros::NodeHandle &nh)

virtual void	work ()

Protected Attributes
std::shared_ptr< tf::TransformBroadcaster >	_tf_pub

bool	_tfEnabled

Protected Attributes inherited from rc::Protobuf2RosStream
std::shared_ptr< Protobuf2RosPublisher >	_rosPublisher

const std::string	_tfPrefix

Protected Attributes inherited from rc::ThreadedStream
Manager::Ptr	_manager

ros::NodeHandle	_nh

rc::dynamics::RemoteInterface::Ptr	_rcdyn

std::atomic_bool	_requested

std::atomic_bool	_stop

std::string	_stream

std::atomic_bool	_success

std::thread	_thread

Additional Inherited Members
Public Types inherited from rc::ThreadedStream
typedef std::shared_ptr< ThreadedStream >	Ptr

Detailed Description

Specific implementation for roboception::msgs::Frame messages that publishes received messages not only as ros StampedPoses but also on tf if desired.

Again, the resulting ros topic is the dynamics stream name.

Definition at line 82 of file protobuf2ros_stream.h.

Constructor & Destructor Documentation

rc::PoseAndTFStream::PoseAndTFStream	(	rc::dynamics::RemoteInterface::Ptr	rcdIface,
		const std::string &	stream,
		ros::NodeHandle &	nh,
		const std::string &	frame_id_prefix,
		bool	tfEnabled
	)

inline

Definition at line 85 of file protobuf2ros_stream.h.

Member Function Documentation

bool rc::PoseAndTFStream::checkRosPublishersUsed ( )

overrideprotectedvirtual

Reimplemented from rc::Protobuf2RosStream.

Definition at line 215 of file protobuf2ros_stream.cc.

void rc::PoseAndTFStream::initRosPublishers ( )

overrideprotectedvirtual

Reimplemented from rc::Protobuf2RosStream.

Definition at line 209 of file protobuf2ros_stream.cc.

void rc::PoseAndTFStream::publishToRos ( std::shared_ptr<::google::protobuf::Message > pbMsg )

overrideprotectedvirtual

Reimplemented from rc::Protobuf2RosStream.

Definition at line 220 of file protobuf2ros_stream.cc.

Member Data Documentation

std::shared_ptr<tf::TransformBroadcaster> rc::PoseAndTFStream::_tf_pub

protected

Definition at line 104 of file protobuf2ros_stream.h.

bool rc::PoseAndTFStream::_tfEnabled

protected

Definition at line 105 of file protobuf2ros_stream.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation